3
 -0.344857   0.928588   0.137104  -0.154283
  0.717418   0.354939  -0.599441 -0.0223659
 -0.605298   -0.10836  -0.788589   0.722164
         0          0          0          1
  0.137522   0.979032   0.150282   0.142792
  0.792089 -0.0176039  -0.610152 -0.0360968
 -0.594713   0.202946  -0.777901   0.764141
         0          0          0          1
  0.652026   0.751031   0.103998 -0.0485221
  0.582442  -0.408332  -0.702871  -0.215053
 -0.485412   0.518863  -0.703674    0.90264
         0          0          0          1
